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Simultaneous Localization and Calibration (SLAC) Methods for a Train mounted Magnetometer

Siebler, Benjamin and Lehner, Andreas and Sand, Stephan and Hanebeck, Uwe D. (2023) Simultaneous Localization and Calibration (SLAC) Methods for a Train mounted Magnetometer. Navigation, Journal of the Institute of Navigation. The Institute of Navigation Inc. ISSN 2161-4296.

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Magnetic field localization is based on the fact that the Earth magnetic field is distorted in the vicinity of ferromagnetic objects. When ferromagnetic objects are at fixed positions, the distortions are also fixed and thus, contain location information. In our prior work, we proposed a simultaneous localization and calibration (SLAC) algorithm based on a Rao-Blackwellized particle filter that enables magnetic train localization using only uncalibrated magnetometer measurements. In this paper, a lower-complexity version of the SLAC algorithm is proposed that only estimates a subset of calibration parameters. An evaluation compares the full and reduced SLAC approach to a particle filter in which the magnetometer is pre-calibrated with a fixed set of parameters. The results show a clear advantage for both SLAC approaches and that the SLAC algorithm with a reduced set of calibration parameters achieves the same performance as the one with a full set of parameters.

Item URL in elib:https://elib.dlr.de/188370/
Document Type:Article
Title:Simultaneous Localization and Calibration (SLAC) Methods for a Train mounted Magnetometer
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Lehner, AndreasUNSPECIFIEDhttps://orcid.org/0000-0003-0141-2747UNSPECIFIED
Sand, StephanUNSPECIFIEDhttps://orcid.org/0000-0001-9502-5654UNSPECIFIED
Hanebeck, Uwe D.Karlsruhe Institute of Technology (KIT)UNSPECIFIEDUNSPECIFIED
Date:March 2023
Journal or Publication Title:Navigation, Journal of the Institute of Navigation
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Publisher:The Institute of Navigation Inc
Keywords:Magnetometer calibration, magnetic field localization
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Rail Transport
DLR - Research area:Transport
DLR - Program:V SC Schienenverkehr
DLR - Research theme (Project):V - NGT BIT (old), V - ProCo - Propulsion and Coupling
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation
Institute of Communication and Navigation > Communications Systems
Deposited By: Siebler, Benjamin
Deposited On:20 Sep 2022 09:11
Last Modified:16 Nov 2023 13:12

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